OpenRaiser/Intern-Atlas huggingface dataset:
Synthetic Forehead-creases Biometric Generation for Reliable User Verification
Venue: arXiv cs.CV 2024
Year: 2024

Recent studies have emphasized the potential of forehead-crease patterns as an alternative for face, iris, and periocular recognition, presenting contactless and convenient solutions, particularly in situations where faces are covered by surgical masks. However, collecting forehead data presents challenges, including cost and time constraints, as developing and optimizing forehead verification methods requires a substantial number of high-quality images. To tackle these challenges, the generation of synthetic biometric data has gained traction due to its ability to protect privacy while enabling effective training of deep learning-based biometric verification methods. In this paper, we present a new framework to synthesize forehead-crease image data while maintaining important features, such as uniqueness and realism. The proposed framework consists of two main modules: a Subject-Specific Generation Module (SSGM), based on an image-to-image Brownian Bridge Diffusion Model (BBDM), which learns a one-to-many mapping between image pairs to generate identity-aware synthetic forehead creases corresponding to real subjects, and a Subject-Agnostic Generation Module (SAGM), which samples new synthetic identities with assistance from the SSGM. We evaluate the diversity and realism of the generated forehead-crease images primarily using the Fréchet Inception Distance (FID) and the Structural Similarity Index Measure (SSIM). In addition, we assess the utility of synthetically generated forehead-crease images using a forehead-crease verification system (FHCVS). The results indicate an improvement in the verification accuracy of the FHCVS by utilizing synthetic data.
Conan-embedding: General Text Embedding with More and Better Negative Samples
Venue: arXiv cs.CL 2024
Year: 2024

With the growing popularity of RAG, the capabilities of embedding models are gaining increasing attention. Embedding models are primarily trained through contrastive loss learning, with negative examples being a key component. Previous work has proposed various hard negative mining strategies, but these strategies are typically employed as preprocessing steps. In this paper, we propose the conan-embedding model, which maximizes the utilization of more and higher-quality negative examples. Specifically, since the model's ability to handle preprocessed negative examples evolves during training, we propose dynamic hard negative mining method to expose the model to more challenging negative examples throughout the training process. Secondly, contrastive learning requires as many negative examples as possible but is limited by GPU memory constraints. Therefore, we use a Cross-GPU balancing Loss to provide more negative examples for embedding training and balance the batch size across multiple tasks. Moreover, we also discovered that the prompt-response pairs from LLMs can be used for embedding training. Our approach effectively enhances the capabilities of embedding models, currently ranking first on the Chinese leaderboard of Massive text embedding benchmark
Benchmarking ML Approaches to UWB-Based Range-Only Posture Recognition for Human Robot-Interaction
Venue: arXiv cs.RO 2024
Year: 2024

Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation using machine learning algorithms to predict human posture and translate them into robot motion commands using ultra-wideband (UWB) nodes, as an alternative to motion sensors. The study utilizes five UWB sensors implemented on the human body to enable the classification of still poses and more robust posture recognition. This approach ensures effective posture recognition across a variety of subjects. These range measurements serve as input features for posture prediction models, which are implemented and compared for accuracy. For this purpose, machine learning algorithms including K-Nearest Neighbors (KNN), Support Vector Machine (SVM), and deep Multi-Layer Perceptron (MLP) neural network are employed and compared in predicting corresponding postures. We demonstrate the proposed approach for real-time control of different mobile/aerial robots with inference implemented in a ROS 2 node. Experimental results demonstrate the efficacy of the approach, showcasing successful prediction of human posture and corresponding robot movements with high accuracy.
Str-L Pose: Integrating Point and Structured Line for Relative Pose Estimation in Dual-Graph
Venue: arXiv cs.CV 2024
Year: 2024

Relative pose estimation is crucial for various computer vision applications, including Robotic and Autonomous Driving. Current methods primarily depend on selecting and matching feature points prone to incorrect matches, leading to poor performance. Consequently, relying solely on point-matching relationships for pose estimation is a huge challenge. To overcome these limitations, we propose a Geometric Correspondence Graph neural network that integrates point features with extra structured line segments. This integration of matched points and line segments further exploits the geometry constraints and enhances model performance across different environments. We employ the Dual-Graph module and Feature Weighted Fusion Module to aggregate geometric and visual features effectively, facilitating complex scene understanding. We demonstrate our approach through extensive experiments on the DeMoN and KITTI Odometry datasets. The results show that our method is competitive with state-of-the-art techniques.
Conceptual Design on the Field of View of Celestial Navigation Systems for Maritime Autonomous Surface Ships
Venue: arXiv cs.RO 2024
Year: 2024

In order to understand the appropriate field of view (FOV) size of celestial automatic navigation systems for surface ships, we investigate the variations of measurement accuracy of star position and probability of successful star identification with respect to FOV, focusing on the decreasing number of observable star magnitudes and the presence of physically covered stars in marine environments. The results revealed that, although a larger FOV reduces the measurement accuracy of star positions, it increases the number of observable objects and thus improves the probability of star identification using subgraph isomorphism-based methods. It was also found that, although at least four objects need to be observed for accurate identification, four objects may not be sufficient for wider FOVs. On the other hand, from the point of view of celestial navigation systems, a decrease in the measurement accuracy leads to a decrease in positioning accuracy. Therefore, it was found that maximizing the FOV is required for celestial automatic navigation systems as long as the desired positioning accuracy can be ensured. Furthermore, it was found that algorithms incorporating more than four observed celestial objects are required to achieve highly accurate star identification over a wider FOV.
Emulating Brain-like Rapid Learning in Neuromorphic Edge Computing
Venue: arXiv cs.NE 2024
Year: 2024

Achieving personalized intelligence at the edge with real-time learning capabilities holds enormous promise in enhancing our daily experiences and helping decision making, planning, and sensing. However, efficient and reliable edge learning remains difficult with current technology due to the lack of personalized data, insufficient hardware capabilities, and inherent challenges posed by online learning. Over time and across multiple developmental stages, the brain has evolved to efficiently incorporate new knowledge by gradually building on previous knowledge. In this work, we emulate the multiple stages of learning with digital neuromorphic technology that simulates the neural and synaptic processes of the brain using two stages of learning. First, a meta-training stage trains the hyperparameters of synaptic plasticity for one-shot learning using a differentiable simulation of the neuromorphic hardware. This meta-training process refines a hardware local three-factor synaptic plasticity rule and its associated hyperparameters to align with the trained task domain. In a subsequent deployment stage, these optimized hyperparameters enable fast, data-efficient, and accurate learning of new classes. We demonstrate our approach using event-driven vision sensor data and the Intel Loihi neuromorphic processor with its plasticity dynamics, achieving real-time one-shot learning of new classes that is vastly improved over transfer learning. Our methodology can be deployed with arbitrary plasticity models and can be applied to situations demanding quick learning and adaptation at the edge, such as navigating unfamiliar environments or learning unexpected categories of data through user engagement.
Object Detection for Vehicle Dashcams using Transformers
Venue: arXiv cs.CV 2024
Year: 2024

The use of intelligent automation is growing significantly in the automotive industry, as it assists drivers and fleet management companies, thus increasing their productivity. Dash cams are now been used for this purpose which enables the instant identification and understanding of multiple objects and occurrences in the surroundings. In this paper, we propose a novel approach for object detection in dashcams using transformers. Our system is based on the state-of-the-art DEtection TRansformer (DETR), which has demonstrated strong performance in a variety of conditions, including different weather and illumination scenarios. The use of transformers allows for the consideration of contextual information in decisionmaking, improving the accuracy of object detection. To validate our approach, we have trained our DETR model on a dataset that represents real-world conditions. Our results show that the use of intelligent automation through transformers can significantly enhance the capabilities of dashcam systems. The model achieves an mAP of 0.95 on detection.
DQFormer: Towards Unified LiDAR Panoptic Segmentation with Decoupled Queries
Venue: arXiv cs.CV 2024
Year: 2024

LiDAR panoptic segmentation, which jointly performs instance and semantic segmentation for things and stuff classes, plays a fundamental role in LiDAR perception tasks. While most existing methods explicitly separate these two segmentation tasks and utilize different branches (i.e., semantic and instance branches), some recent methods have embraced the query-based paradigm to unify LiDAR panoptic segmentation. However, the distinct spatial distribution and inherent characteristics of objects(things) and their surroundings(stuff) in 3D scenes lead to challenges, including the mutual competition of things/stuff and the ambiguity of classification/segmentation. In this paper, we propose decoupling things/stuff queries according to their intrinsic properties for individual decoding and disentangling classification/segmentation to mitigate ambiguity. To this end, we propose a novel framework dubbed DQFormer to implement semantic and instance segmentation in a unified workflow. Specifically, we design a decoupled query generator to propose informative queries with semantics by localizing things/stuff positions and fusing multi-level BEV embeddings. Moreover, a query-oriented mask decoder is introduced to decode corresponding segmentation masks by performing masked cross-attention between queries and mask embeddings. Finally, the decoded masks are combined with the semantics of the queries to produce panoptic results. Extensive experiments on nuScenes and SemanticKITTI datasets demonstrate the superiority of our DQFormer framework.
Mining Field Data for Tree Species Recognition at Scale
Venue: arXiv cs.CV 2024
Year: 2024

Individual tree species labels are particularly hard to acquire due to the expert knowledge needed and the limitations of photointerpretation. Here, we present a methodology to automatically mine species labels from public forest inventory data, using available pretrained tree detection models. We identify tree instances in aerial imagery and match them with field data with close to zero human involvement. We conduct a series of experiments on the resulting dataset, and show a beneficial effect when adding noisy or even unlabeled data points, highlighting a strong potential for large-scale individual species mapping.
Automatic Differential Diagnosis using Transformer-Based Multi-Label Sequence Classification
Venue: arXiv cs.LG 2024
Year: 2024

As the field of artificial intelligence progresses, assistive technologies are becoming more widely used across all industries. The healthcare industry is no different, with numerous studies being done to develop assistive tools for healthcare professionals. Automatic diagnostic systems are one such beneficial tool that can assist with a variety of tasks, including collecting patient information, analyzing test results, and diagnosing patients. However, the idea of developing systems that can provide a differential diagnosis has been largely overlooked in most of these research studies. In this study, we propose a transformer-based approach for providing differential diagnoses based on a patient's age, sex, medical history, and symptoms. We use the DDXPlus dataset, which provides differential diagnosis information for patients based on 49 disease types. Firstly, we propose a method to process the tabular patient data from the dataset and engineer them into patient reports to make them suitable for our research. In addition, we introduce two data modification modules to diversify the training data and consequently improve the robustness of the models. We approach the task as a multi-label classification problem and conduct extensive experiments using four transformer models. All the models displayed promising results by achieving over 97% F1 score on the held-out test set. Moreover, we design additional behavioral tests to get a broader understanding of the models. In particular, for one of our test cases, we prepared a custom test set of 100 samples with the assistance of a doctor. The results on the custom set showed that our proposed data modification modules improved the model's generalization capabilities. We hope our findings will provide future researchers with valuable insights and inspire them to develop reliable systems for automatic differential diagnosis.
Towards Optimized Parallel Robots for Human-Robot Collaboration by Combined Structural and Dimensional Synthesis
Venue: arXiv cs.RO 2024
Year: 2024

Parallel robots (PR) offer potential for human-robot collaboration (HRC) due to their lower moving masses and higher speeds. However, the parallel leg chains increase the risks of collision and clamping. In this work, these hazards are described by kinematics and kinetostatics models to minimize them as objective functions by a combined structural and dimensional synthesis in a particle-swarm optimization. In addition to the risk of clamping within and between kinematic chains, the back-drivability is quantified to theoretically guarantee detectability via motor current. Another HRC-relevant objective function is the largest eigenvalue of the mass matrix formulated in the operational-space coordinates to consider collision effects. Multi-objective optimization leads to different Pareto-optimal PR structures. The results show that the optimization leads to significant improvement of the HRC criteria and that a Hexa structure (6-RUS) is to be favored concerning the objective functions and due to its simpler joint structure.
What is YOLOv8: An In-Depth Exploration of the Internal Features of the Next-Generation Object Detector
Venue: arXiv cs.CV 2024
Year: 2024

This study presents a detailed analysis of the YOLOv8 object detection model, focusing on its architecture, training techniques, and performance improvements over previous iterations like YOLOv5. Key innovations, including the CSPNet backbone for enhanced feature extraction, the FPN+PAN neck for superior multi-scale object detection, and the transition to an anchor-free approach, are thoroughly examined. The paper reviews YOLOv8's performance across benchmarks like Microsoft COCO and Roboflow 100, highlighting its high accuracy and real-time capabilities across diverse hardware platforms. Additionally, the study explores YOLOv8's developer-friendly enhancements, such as its unified Python package and CLI, which streamline model training and deployment. Overall, this research positions YOLOv8 as a state-of-the-art solution in the evolving object detection field.
Robust Statistical Scaling of Outlier Scores: Improving the Quality of Outlier Probabilities for Outliers (Extended Version)
Venue: arXiv cs.LG 2024
Year: 2024

Outlier detection algorithms typically assign an outlier score to each observation in a dataset, indicating the degree to which an observation is an outlier. However, these scores are often not comparable across algorithms and can be difficult for humans to interpret. Statistical scaling addresses this problem by transforming outlier scores into outlier probabilities without using ground-truth labels, thereby improving interpretability and comparability across algorithms. However, the quality of this transformation can be different for outliers and inliers. Missing outliers in scenarios where they are of particular interest - such as healthcare, finance, or engineering - can be costly or dangerous. Thus, ensuring good probabilities for outliers is essential. This paper argues that statistical scaling, as commonly used in the literature, does not produce equally good probabilities for outliers as for inliers. Therefore, we propose robust statistical scaling, which uses robust estimators to improve the probabilities for outliers. We evaluate several variants of our method against other outlier score transformations for real-world datasets and outlier detection algorithms, where it can improve the probabilities for outliers.
Enhancing Intrusion Detection in IoT Environments: An Advanced Ensemble Approach Using Kolmogorov-Arnold Networks
Venue: arXiv cs.CR 2024
Year: 2024

In recent years, the evolution of machine learning techniques has significantly impacted the field of intrusion detection, particularly within the context of the Internet of Things (IoT). As IoT networks expand, the need for robust security measures to counteract potential threats has become increasingly critical. This paper introduces a hybrid Intrusion Detection System (IDS) that synergistically combines Kolmogorov-Arnold Networks (KANs) with the XGBoost algorithm. Our proposed IDS leverages the unique capabilities of KANs, which utilize learnable activation functions to model complex relationships within data, alongside the powerful ensemble learning techniques of XGBoost, known for its high performance in classification tasks. This hybrid approach not only enhances the detection accuracy but also improves the interpretability of the model, making it suitable for dynamic and intricate IoT environments. Experimental evaluations demonstrate that our hybrid IDS achieves an impressive detection accuracy exceeding 99% in distinguishing between benign and malicious activities. Additionally, we were able to achieve F1 scores, precision, and recall that exceeded 98%. Furthermore, we conduct a comparative analysis against traditional Multi-Layer Perceptron (MLP) networks, assessing performance metrics such as Precision, Recall, and F1-score. The results underscore the efficacy of integrating KANs with XGBoost, highlighting the potential of this innovative approach to significantly strengthen the security framework of IoT networks.
Airfoil Diffusion: Denoising Diffusion Model For Conditional Airfoil Generation
Venue: arXiv cs.LG 2024
Year: 2024

The design of aerodynamic shapes, such as airfoils, has traditionally required significant computational resources and relied on predefined design parameters, which limit the potential for novel shape synthesis. In this work, we introduce a data-driven methodology for airfoil generation using a diffusion model. Trained on a dataset of preexisting airfoils, our model can generate an arbitrary number of new airfoils from random vectors, which can be conditioned on specific aerodynamic performance metrics such as lift and drag, or geometric criteria. Our results demonstrate that the diffusion model effectively produces airfoil shapes with realistic aerodynamic properties, offering substantial improvements in efficiency, flexibility, and the potential for discovering innovative airfoil designs. This approach significantly expands the design space, facilitating the synthesis of high-performance aerodynamic shapes that transcend the limitations of traditional methods.
SLAM2REF: Advancing Long-Term Mapping with 3D LiDAR and Reference Map Integration for Precise 6-DoF Trajectory Estimation and Map Extension
Venue: arXiv cs.RO 2024
Year: 2024

This paper presents a pioneering solution to the task of integrating mobile 3D LiDAR and inertial measurement unit (IMU) data with existing building information models or point clouds, which is crucial for achieving precise long-term localization and mapping in indoor, GPS-denied environments. Our proposed framework, SLAM2REF, introduces a novel approach for automatic alignment and map extension utilizing reference 3D maps. The methodology is supported by a sophisticated multi-session anchoring technique, which integrates novel descriptors and registration methodologies. Real-world experiments reveal the framework's remarkable robustness and accuracy, surpassing current state-of-the-art methods. Our open-source framework's significance lies in its contribution to resilient map data management, enhancing processes across diverse sectors such as construction site monitoring, emergency response, disaster management, and others, where fast-updated digital 3D maps contribute to better decision-making and productivity. Moreover, it offers advancements in localization and mapping research. Link to the repository: https://github.com/MigVega/SLAM2REF, Data: https://doi.org/10.14459/2024mp1743877.
Mamba or Transformer for Time Series Forecasting? Mixture of Universals (MoU) Is All You Need
Venue: arXiv cs.LG 2024
Year: 2024

Time series forecasting requires balancing short-term and long-term dependencies for accurate predictions. Existing methods mainly focus on long-term dependency modeling, neglecting the complexities of short-term dynamics, which may hinder performance. Transformers are superior in modeling long-term dependencies but are criticized for their quadratic computational cost. Mamba provides a near-linear alternative but is reported less effective in time series longterm forecasting due to potential information loss. Current architectures fall short in offering both high efficiency and strong performance for long-term dependency modeling. To address these challenges, we introduce Mixture of Universals (MoU), a versatile model to capture both short-term and long-term dependencies for enhancing performance in time series forecasting. MoU is composed of two novel designs: Mixture of Feature Extractors (MoF), an adaptive method designed to improve time series patch representations for short-term dependency, and Mixture of Architectures (MoA), which hierarchically integrates Mamba, FeedForward, Convolution, and Self-Attention architectures in a specialized order to model long-term dependency from a hybrid perspective. The proposed approach achieves state-of-the-art performance while maintaining relatively low computational costs. Extensive experiments on seven real-world datasets demonstrate the superiority of MoU. Code is available at https://github.com/lunaaa95/mou/.